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<a href="../../dc/d98/mandarava_2linux_2serial_8cpp.html">浏览该文件的文档.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#include &lt;unistd.h&gt;</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="preprocessor">#include &lt;string&gt;</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;sstream&gt;</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span> </div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &quot;<a class="code" href="../../d8/d9b/mandarava_2linux_2serial_8hpp.html">mandarava/linux/serial.hpp</a>&quot;</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span> </div>
<div class="foldopen" id="foldopen00007" data-start="{" data-end="}">
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"><a class="line" href="../../d8/dc6/classserial.html#a7adc9418a6c7c446a73cbc40966a78e6">    7</a></span>serial :: serial( <span class="keyword">const</span> std::string&amp; name ):</div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span>    m_name__( name ),</div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span>    m_fd__( -1 ),</div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span>    m_baud__( 115200 ),</div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span>    m_data_bits__( 8),</div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span>    m_parity__( <a class="code hl_enumeration" href="../../d8/dc6/classserial.html#ad4fb601321062cb1cd41df62d5e7be5e">parity</a>:: NONE ),</div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span>    m_stop__( <a class="code hl_enumeration" href="../../d8/dc6/classserial.html#ae74c7da14bafdea44212a00ddb5d6d07">stop</a>::ONE ),</div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span>    m_flow__( <a class="code hl_enumeration" href="../../d8/dc6/classserial.html#a1a213e88363227465045c5857e4c2cb1">flow</a>::NONE )</div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span>{</div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>    <span class="keywordflow">if</span>( name.empty() ){</div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>        <span class="keywordflow">throw</span> std::runtime_error( <span class="stringliteral">&quot;请明确给出串口名称&quot;</span> );</div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>    }</div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>    <span class="keywordflow">if</span>( access( name.c_str() , F_OK ) != 0 ){</div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>        std::stringstream ss;</div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>        ss &lt;&lt; <span class="stringliteral">&quot;指定名称 &quot;</span> &lt;&lt; name &lt;&lt;<span class="stringliteral">&quot; 的串口不存在&quot;</span>;</div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>        <span class="keywordflow">throw</span> std::runtime_error( ss.str() );</div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>    }</div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>}</div>
</div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span> </div>
<div class="foldopen" id="foldopen00026" data-start="{" data-end="}">
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"><a class="line" href="../../d8/dc6/classserial.html#a4df5a4447d8c57723f325569f3055362">   26</a></span>serial :: serial( <span class="keyword">const</span> std::string&amp; name , <span class="keywordtype">int</span> baud , <span class="keywordtype">int</span> dbits, <a class="code hl_enumeration" href="../../d8/dc6/classserial.html#ae74c7da14bafdea44212a00ddb5d6d07">stop</a> s , <a class="code hl_enumeration" href="../../d8/dc6/classserial.html#ad4fb601321062cb1cd41df62d5e7be5e">parity</a> p, <a class="code hl_enumeration" href="../../d8/dc6/classserial.html#a1a213e88363227465045c5857e4c2cb1">flow</a> f ):</div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>    m_name__( name ),</div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>    m_fd__( -1 ),</div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>    m_baud__( baud ),</div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>    m_data_bits__( dbits ),</div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>    m_parity__( p ),</div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>    m_stop__( s ),</div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    m_flow__( f )</div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>{</div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>    <span class="keywordflow">if</span>( name.empty() ){</div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>        <span class="keywordflow">throw</span> std::runtime_error( <span class="stringliteral">&quot;请明确给出串口名称&quot;</span> );</div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    }</div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>    <span class="keywordflow">if</span>( access( name.c_str() , F_OK ) != 0 ){</div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>        std::stringstream ss;</div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>        ss &lt;&lt; <span class="stringliteral">&quot;指定名称 &quot;</span> &lt;&lt; name &lt;&lt;<span class="stringliteral">&quot; 的串口不存在&quot;</span>;</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>        <span class="keywordflow">throw</span> std::runtime_error( ss.str() );</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>    }</div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>}</div>
</div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span> </div>
<div class="foldopen" id="foldopen00045" data-start="{" data-end="}">
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="../../d8/dc6/classserial.html#a59020b99c660677476f029b75346a690">   45</a></span><span class="keywordtype">bool</span> serial :: open()</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>{</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>    <span class="keywordtype">int</span> rc = ::open( m_name__.c_str() , O_RDWR | O_NOCTTY | O_NONBLOCK | O_NDELAY );</div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>    <span class="keywordflow">if</span>( rc &lt; 0 ){</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>        <a class="code hl_define" href="../../d0/d0e/misc_8hpp.html#ab66bafe0e3773f589f4a239eb3aaecff">ERROR_MSG</a>( <span class="stringliteral">&quot;打开串口错误&quot;</span> );</div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>        <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    }</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span> </div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>    update_param( m_baud__.load() , m_data_bits__.load() , m_stop__.load() , m_parity__.load() , m_flow__.load() );</div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span> </div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>}</div>
</div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span> </div>
<div class="foldopen" id="foldopen00058" data-start="{" data-end="}">
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"><a class="line" href="../../d8/dc6/classserial.html#a7d780916970b518a596bbaeb232a0454">   58</a></span><span class="keywordtype">bool</span> serial :: open( <span class="keywordtype">int</span> baud , <span class="keywordtype">int</span> dbits ,  <a class="code hl_enumeration" href="../../d8/dc6/classserial.html#ae74c7da14bafdea44212a00ddb5d6d07">stop</a> s ,  <a class="code hl_enumeration" href="../../d8/dc6/classserial.html#ad4fb601321062cb1cd41df62d5e7be5e">parity</a> p ,<a class="code hl_enumeration" href="../../d8/dc6/classserial.html#a1a213e88363227465045c5857e4c2cb1">flow</a> f )</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>{</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    m_baud__ = baud;</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>    m_data_bits__ = dbits;</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    m_stop__ = s;</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    m_parity__ = p;</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>    m_flow__ = f;</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    </div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>    <span class="keywordtype">int</span> rc = ::open( m_name__.c_str() , O_RDWR | O_NOCTTY | O_NONBLOCK | O_NDELAY );</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>    <span class="keywordflow">if</span>( rc &lt; 0 ){</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>        <a class="code hl_define" href="../../d0/d0e/misc_8hpp.html#ab66bafe0e3773f589f4a239eb3aaecff">ERROR_MSG</a>( <span class="stringliteral">&quot;打开串口错误&quot;</span> );</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>        <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>    }</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span> </div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    update_param( m_baud__.load() , m_data_bits__.load() , m_stop__.load() , m_parity__.load() , m_flow__.load() );</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>}</div>
</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span> </div>
<div class="foldopen" id="foldopen00075" data-start="{" data-end="}">
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"><a class="line" href="../../d8/dc6/classserial.html#aa4a211abe8ab54f217ae170b8fc92724">   75</a></span><span class="keywordtype">bool</span> serial :: close()</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>{</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    <a class="code hl_class" href="../../d5/dc5/classwheels_1_1dm_1_1main_loop.html">mandaravaCommand</a> * cmd = mandaravaCommand::get();</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>    <span class="keywordflow">if</span>( cmd ){ <span class="keywordflow">return</span>; }</div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    </div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    <span class="keywordtype">bool</span> ret = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>    <span class="keywordtype">int</span> rc = ::close( m_fd__.load );</div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>    <span class="keywordflow">if</span>( rc ){</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>        <a class="code hl_struct" href="../../d0/de4/structmandarava_evt.html">mandaravaEvt</a> evt = { <a class="code hl_enumvalue" href="../../db/d8f/itfc_8hpp.html#a60cb774084c193005ab0b2caa9e36a8fac96dc57c504c76f8160000df53d794f6">mandaravaEvtID::EVT_ERROR</a> , this , buff_t( 200 ) };</div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>        std::string err( <span class="stringliteral">&quot;关闭接口失败&quot;</span> );</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>        memcpy( evt.<a class="code hl_variable" href="../../d0/de4/structmandarava_evt.html#afb1682968996b0d010803d1d0c748916">m_buff</a>.get() , err.c_str() , err.length() );</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>        evt.<a class="code hl_variable" href="../../d0/de4/structmandarava_evt.html#afb1682968996b0d010803d1d0c748916">m_buff</a>[ err.length() ] = <span class="charliteral">&#39;\0&#39;</span>;</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>        evt.<a class="code hl_variable" href="../../d0/de4/structmandarava_evt.html#afb1682968996b0d010803d1d0c748916">m_buff</a>.<a class="code hl_function" href="../../da/d39/classwheels_1_1malloc_shared_ptr.html#ab6d04b824d0c91bfbb2749704eb3a0b9">dataLen</a>( err.length() );</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>        </div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>        cmd-&gt;send( evt );</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>        <span class="keywordflow">return</span> ret;</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    }</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>    </div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    <a class="code hl_struct" href="../../d0/de4/structmandarava_evt.html">mandaravaEvt</a> evt = { <a class="code hl_enumvalue" href="../../db/d8f/itfc_8hpp.html#a60cb774084c193005ab0b2caa9e36a8fa764aab757b6485d4d2713b5dad341c39">mandaravaEvtID::EVT_CLOSE</a> , this , buff_t( 0 ) };</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>    cmd-&gt;send( evt );</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>    </div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>}</div>
</div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>   </div>
<div class="foldopen" id="foldopen00099" data-start="{" data-end="}">
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"><a class="line" href="../../d8/dc6/classserial.html#ae4220a528c470f77dc9d29b8d79f5286">   99</a></span><span class="keywordtype">size_t</span> serial :: send( <span class="keyword">const</span> <span class="keywordtype">char</span> * data , <span class="keywordtype">size_t</span> len )</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>{</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>    <a class="code hl_class" href="../../d5/dc5/classwheels_1_1dm_1_1main_loop.html">mandaravaCommand</a> * cmd = mandaravaCommand::get();</div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>    <span class="keywordflow">if</span>( cmd ){ <span class="keywordflow">return</span>; }</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>    </div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>    <span class="keywordflow">if</span>( data == <span class="keyword">nullptr</span> || len == 0 ){</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>        <a class="code hl_struct" href="../../d0/de4/structmandarava_evt.html">mandaravaEvt</a> evt = { <a class="code hl_enumvalue" href="../../db/d8f/itfc_8hpp.html#a60cb774084c193005ab0b2caa9e36a8fac96dc57c504c76f8160000df53d794f6">mandaravaEvtID::EVT_ERROR</a> , this , buff_t( 200 ) };</div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>        std::string err( <span class="stringliteral">&quot;要发送的数据内容不能为空&quot;</span> );</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>        memcpy( evt.<a class="code hl_variable" href="../../d0/de4/structmandarava_evt.html#afb1682968996b0d010803d1d0c748916">m_buff</a>.get() , err.c_str() , err.length() );</div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>        evt.<a class="code hl_variable" href="../../d0/de4/structmandarava_evt.html#afb1682968996b0d010803d1d0c748916">m_buff</a>[ err.length() ] = <span class="charliteral">&#39;\0&#39;</span>;</div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>        evt.<a class="code hl_variable" href="../../d0/de4/structmandarava_evt.html#afb1682968996b0d010803d1d0c748916">m_buff</a>.<a class="code hl_function" href="../../da/d39/classwheels_1_1malloc_shared_ptr.html#ab6d04b824d0c91bfbb2749704eb3a0b9">dataLen</a>( err.length() );</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>        cmd-&gt;send( evt );</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>    }</div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>    <span class="keywordtype">size_t</span> rc = write( m_fd__.load() , data , len );</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>    <span class="keywordflow">if</span>( rc &lt;= 0 ){</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>        <a class="code hl_struct" href="../../d0/de4/structmandarava_evt.html">mandaravaEvt</a> evt = { <a class="code hl_enumvalue" href="../../db/d8f/itfc_8hpp.html#a60cb774084c193005ab0b2caa9e36a8fac96dc57c504c76f8160000df53d794f6">mandaravaEvtID::EVT_ERROR</a> , this , buff_t( 200 ) };</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>        std::string err( <span class="stringliteral">&quot;数据发送失败&quot;</span> );</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>        memcpy( evt.<a class="code hl_variable" href="../../d0/de4/structmandarava_evt.html#afb1682968996b0d010803d1d0c748916">m_buff</a>.get() , err.c_str() , err.length() );</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>        evt.<a class="code hl_variable" href="../../d0/de4/structmandarava_evt.html#afb1682968996b0d010803d1d0c748916">m_buff</a>[ err.length() ] = <span class="charliteral">&#39;\0&#39;</span>;</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>        evt.<a class="code hl_variable" href="../../d0/de4/structmandarava_evt.html#afb1682968996b0d010803d1d0c748916">m_buff</a>.<a class="code hl_function" href="../../da/d39/classwheels_1_1malloc_shared_ptr.html#ab6d04b824d0c91bfbb2749704eb3a0b9">dataLen</a>( err.length() );</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>        cmd-&gt;send( evt );</div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>    }</div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>}</div>
</div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span> </div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span><span class="keywordtype">bool</span> serial :: update_param( <span class="keywordtype">int</span> baud , <span class="keywordtype">int</span> dbits , stop s , parity p,  flow f )</div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>{</div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>    <span class="keywordtype">bool</span> ret = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span> </div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>    <span class="keyword">struct </span>termios newtio,oldtio;</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>    <span class="comment">/*保存测试现有串口参数设置，在这里如果串口号等出错，会有相关的出错信息*/</span></div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>    <span class="keywordflow">if</span>  ( tcgetattr( fd,&amp;oldtio)  !=  0) {</div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>        ret = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>    }</div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>    bzero( &amp;newtio, <span class="keyword">sizeof</span>( newtio ) );</div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>    <span class="comment">/*步骤一，设置字符大小*/</span></div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>    newtio.c_cflag  |=  CLOCAL | CREAD;</div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>    newtio.c_cflag &amp;= ~CSIZE;</div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>    <span class="keywordflow">switch</span>( char_len ){</div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>    <span class="keywordflow">case</span> 5:  newtio.c_cflag |= CS5;  <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>    <span class="keywordflow">case</span> 6:  newtio.c_cflag |= CS6;  <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>    <span class="keywordflow">case</span> 7:  newtio.c_cflag |= CS7;  <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>    <span class="keywordflow">case</span> 8:  <span class="keywordflow">default</span>: newtio.c_cflag |= CS8;  <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>    }</div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>    <span class="comment">/*设置奇偶校验位*/</span></div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>    <span class="keywordflow">switch</span>( p ) {</div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>    <span class="keywordflow">case</span> parity::ODD:</div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>        newtio.c_cflag |= PARENB; newtio.c_iflag |= INPCK; newtio.c_cflag |= PARODD; <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>    <span class="keywordflow">case</span> parity::EVEN:</div>
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>        newtio.c_cflag |= PARENB; newtio.c_iflag |= INPCK; newtio.c_cflag &amp;= ~PARODD; <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>    <span class="keywordflow">case</span> parity::NONE:</div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>    <span class="keywordflow">default</span>:</div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>        newtio.c_cflag &amp;= ~PARENB;          <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>    }</div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>    <span class="comment">/*设置波特率*/</span></div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>    <span class="keywordflow">switch</span>( baud ) {</div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>    <span class="keywordflow">case</span> 2400:</div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>        cfsetispeed(&amp;newtio, B2400);           cfsetospeed(&amp;newtio, B2400);            <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>    <span class="keywordflow">case</span> 4800:</div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>        cfsetispeed(&amp;newtio, B4800);           cfsetospeed(&amp;newtio, B4800);            <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>    <span class="keywordflow">case</span> 9600:</div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>        cfsetispeed(&amp;newtio, B9600);           cfsetospeed(&amp;newtio, B9600);            <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>    <span class="keywordflow">case</span> 19200:</div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>        cfsetispeed(&amp;newtio, B19200);          cfsetospeed(&amp;newtio, B19200);           <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>    <span class="keywordflow">case</span> 38400:</div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>        cfsetispeed(&amp;newtio, B38400);          cfsetospeed(&amp;newtio, B38400);           <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>    <span class="keywordflow">case</span> 57600:</div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>        cfsetispeed(&amp;newtio, B57600);          cfsetospeed(&amp;newtio, B57600);           <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>    <span class="keywordflow">case</span> 115200:</div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>        cfsetispeed(&amp;newtio, B115200);         cfsetospeed(&amp;newtio, B115200);          <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span>    <span class="keywordflow">case</span> 230400:</div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span>        cfsetispeed(&amp;newtio, B230400);         cfsetospeed(&amp;newtio, B230400);          <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>    <span class="keywordflow">case</span> 460800:</div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>        cfsetispeed(&amp;newtio, B460800);         cfsetospeed(&amp;newtio, B460800);          <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>    <span class="keywordflow">case</span> 921600:</div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>        cfsetispeed(&amp;newtio, B921600);         cfsetospeed(&amp;newtio, B921600);          <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span>    <span class="keywordflow">case</span> 3000000:</div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>        cfsetispeed(&amp;newtio, B3000000);        cfsetospeed(&amp;newtio, B3000000);         <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>    <span class="keywordflow">default</span>:</div>
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span>        cfsetispeed(&amp;newtio, baud );         cfsetospeed(&amp;newtio, baud );          <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>    }</div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span> </div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>    <span class="keywordflow">if</span>( s == stop::ONE )                    <span class="comment">/*设置停止位*/</span></div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span>        newtio.c_cflag &amp;=  ~CSTOPB;</div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span>    <span class="keywordflow">else</span> <span class="keywordflow">if</span> ( s == stop::TWO )</div>
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span>        newtio.c_cflag |=  CSTOPB;</div>
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span> </div>
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>    newtio.c_cc[VTIME]  = 0;                <span class="comment">/*设置等待时间和最小接收字符*/</span></div>
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span>    newtio.c_cc[VMIN] = 0;</div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span> </div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span>    tcflush( fd,TCIFLUSH );                       <span class="comment">/*处理未接收字符*/</span></div>
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span> </div>
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span>    <span class="keywordflow">if</span>((tcsetattr( fd,TCSANOW,&amp;newtio))!=0){     <span class="comment">/*激活新配置*/</span></div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span>        ret = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span>    }</div>
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span>    <span class="keywordflow">else</span> ret = <span class="keyword">true</span>;</div>
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span> </div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>    <span class="keywordflow">return</span> ret;</div>
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span>}</div>
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span> </div>
<div class="foldopen" id="foldopen00198" data-start="{" data-end="}">
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"><a class="line" href="../../d8/dc6/classserial.html#a7146f26ba6f41f3bebdde28b377f82cd">  198</a></span>nativeH_t serial :: native_handle()</div>
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno">  199</span>{</div>
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span>    <span class="keywordflow">return</span> m_fd__.load();</div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno">  201</span>}</div>
</div>
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno">  202</span> </div>
<div class="foldopen" id="foldopen00203" data-start="{" data-end="}">
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"><a class="line" href="../../d8/dc6/classserial.html#ad6c571041b222a833922c81e1ba9ad50">  203</a></span><span class="keywordtype">void</span> serial :: onReadyRead( <span class="keyword">const</span> uint8_t* data , <span class="keywordtype">size_t</span> len )</div>
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno">  204</span>{</div>
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno">  205</span>    <a class="code hl_define" href="../../d0/d0e/misc_8hpp.html#a86d500a34c624c2cae56bc25a31b12f3">UNUSED</a>( data );</div>
<div class="line"><a id="l00206" name="l00206"></a><span class="lineno">  206</span>    <a class="code hl_define" href="../../d0/d0e/misc_8hpp.html#a86d500a34c624c2cae56bc25a31b12f3">UNUSED</a>( len );</div>
<div class="line"><a id="l00207" name="l00207"></a><span class="lineno">  207</span> </div>
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno">  208</span>    <a class="code hl_class" href="../../d5/dc5/classwheels_1_1dm_1_1main_loop.html">mandaravaCommand</a> * cmd = mandaravaCommand::get();</div>
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span>    <span class="keywordflow">if</span>( cmd ){ <span class="keywordflow">return</span>; }</div>
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span>    </div>
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span>    <a class="code hl_struct" href="../../d0/de4/structmandarava_evt.html">mandaravaEvt</a> evt = { <a class="code hl_enumvalue" href="../../db/d8f/itfc_8hpp.html#a60cb774084c193005ab0b2caa9e36a8fa572d1837c030072e32b3d3a5e55cf928">mandaravaEvtID::EVT_DATA</a> , this , buff_t( 1024) };</div>
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span> </div>
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno">  213</span>    <span class="keywordtype">size_t</span> len1 = ::read( m_fd__.load() , evt.<a class="code hl_variable" href="../../d0/de4/structmandarava_evt.html#afb1682968996b0d010803d1d0c748916">m_buff</a>.get() , 1023 );</div>
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno">  214</span>    <span class="keywordflow">if</span>( len1 &lt;= 0 ){</div>
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span>        <span class="keywordflow">return</span>;</div>
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno">  216</span>    }</div>
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno">  217</span> </div>
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno">  218</span>    evt.<a class="code hl_variable" href="../../d0/de4/structmandarava_evt.html#afb1682968996b0d010803d1d0c748916">m_buff</a>.<a class="code hl_function" href="../../da/d39/classwheels_1_1malloc_shared_ptr.html#ab6d04b824d0c91bfbb2749704eb3a0b9">dataLen</a>( len1 );</div>
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno">  219</span>    <span class="comment">// 发出读取到串口数据的通知</span></div>
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno">  220</span>    cmd-&gt;send( evt );</div>
<div class="line"><a id="l00221" name="l00221"></a><span class="lineno">  221</span>}</div>
</div>
<div class="ttc" id="aclassserial_html_a1a213e88363227465045c5857e4c2cb1"><div class="ttname"><a href="../../d8/dc6/classserial.html#a1a213e88363227465045c5857e4c2cb1">serial::flow</a></div><div class="ttdeci">flow</div><div class="ttdef"><b>定义</b> <a href="../../d8/d9b/mandarava_2linux_2serial_8hpp_source.html#l00018">serial.hpp:18</a></div></div>
<div class="ttc" id="aclassserial_html_ad4fb601321062cb1cd41df62d5e7be5e"><div class="ttname"><a href="../../d8/dc6/classserial.html#ad4fb601321062cb1cd41df62d5e7be5e">serial::parity</a></div><div class="ttdeci">parity</div><div class="ttdef"><b>定义</b> <a href="../../d8/d9b/mandarava_2linux_2serial_8hpp_source.html#l00016">serial.hpp:16</a></div></div>
<div class="ttc" id="aclassserial_html_ae74c7da14bafdea44212a00ddb5d6d07"><div class="ttname"><a href="../../d8/dc6/classserial.html#ae74c7da14bafdea44212a00ddb5d6d07">serial::stop</a></div><div class="ttdeci">stop</div><div class="ttdef"><b>定义</b> <a href="../../d8/d9b/mandarava_2linux_2serial_8hpp_source.html#l00017">serial.hpp:17</a></div></div>
<div class="ttc" id="aclasswheels_1_1dm_1_1main_loop_html"><div class="ttname"><a href="../../d5/dc5/classwheels_1_1dm_1_1main_loop.html">wheels::dm::mainLoop</a></div><div class="ttdef"><b>定义</b> <a href="../../d0/dfd/mainloop_8hpp_source.html#l00023">mainloop.hpp:27</a></div></div>
<div class="ttc" id="aclasswheels_1_1malloc_shared_ptr_html_ab6d04b824d0c91bfbb2749704eb3a0b9"><div class="ttname"><a href="../../da/d39/classwheels_1_1malloc_shared_ptr.html#ab6d04b824d0c91bfbb2749704eb3a0b9">wheels::mallocSharedPtr::dataLen</a></div><div class="ttdeci">void dataLen(size_t len)</div><div class="ttdoc">指定当前的数据长度</div><div class="ttdef"><b>定义</b> <a href="../../d0/d5c/malloc_shared_ptr_8hpp_source.html#l00117">mallocSharedPtr.hpp:117</a></div></div>
<div class="ttc" id="aitfc_8hpp_html_a60cb774084c193005ab0b2caa9e36a8fa572d1837c030072e32b3d3a5e55cf928"><div class="ttname"><a href="../../db/d8f/itfc_8hpp.html#a60cb774084c193005ab0b2caa9e36a8fa572d1837c030072e32b3d3a5e55cf928">mandaravaEvtID::EVT_DATA</a></div><div class="ttdeci">@ EVT_DATA</div></div>
<div class="ttc" id="aitfc_8hpp_html_a60cb774084c193005ab0b2caa9e36a8fa764aab757b6485d4d2713b5dad341c39"><div class="ttname"><a href="../../db/d8f/itfc_8hpp.html#a60cb774084c193005ab0b2caa9e36a8fa764aab757b6485d4d2713b5dad341c39">mandaravaEvtID::EVT_CLOSE</a></div><div class="ttdeci">@ EVT_CLOSE</div></div>
<div class="ttc" id="aitfc_8hpp_html_a60cb774084c193005ab0b2caa9e36a8fac96dc57c504c76f8160000df53d794f6"><div class="ttname"><a href="../../db/d8f/itfc_8hpp.html#a60cb774084c193005ab0b2caa9e36a8fac96dc57c504c76f8160000df53d794f6">mandaravaEvtID::EVT_ERROR</a></div><div class="ttdeci">@ EVT_ERROR</div></div>
<div class="ttc" id="amandarava_2linux_2serial_8hpp_html"><div class="ttname"><a href="../../d8/d9b/mandarava_2linux_2serial_8hpp.html">serial.hpp</a></div></div>
<div class="ttc" id="amisc_8hpp_html_a86d500a34c624c2cae56bc25a31b12f3"><div class="ttname"><a href="../../d0/d0e/misc_8hpp.html#a86d500a34c624c2cae56bc25a31b12f3">UNUSED</a></div><div class="ttdeci">#define UNUSED(x)</div><div class="ttdef"><b>定义</b> <a href="../../d0/d0e/misc_8hpp_source.html#l00059">misc.hpp:59</a></div></div>
<div class="ttc" id="amisc_8hpp_html_ab66bafe0e3773f589f4a239eb3aaecff"><div class="ttname"><a href="../../d0/d0e/misc_8hpp.html#ab66bafe0e3773f589f4a239eb3aaecff">ERROR_MSG</a></div><div class="ttdeci">#define ERROR_MSG(str)</div><div class="ttdef"><b>定义</b> <a href="../../d0/d0e/misc_8hpp_source.html#l00144">misc.hpp:144</a></div></div>
<div class="ttc" id="astructmandarava_evt_html"><div class="ttname"><a href="../../d0/de4/structmandarava_evt.html">mandaravaEvt</a></div><div class="ttdoc">定义事件类型</div><div class="ttdef"><b>定义</b> <a href="../../d1/d92/mandarava_2event_8hpp_source.html#l00014">event.hpp:15</a></div></div>
<div class="ttc" id="astructmandarava_evt_html_afb1682968996b0d010803d1d0c748916"><div class="ttname"><a href="../../d0/de4/structmandarava_evt.html#afb1682968996b0d010803d1d0c748916">mandaravaEvt::m_buff</a></div><div class="ttdeci">buff_t m_buff</div><div class="ttdef"><b>定义</b> <a href="../../d1/d92/mandarava_2event_8hpp_source.html#l00021">event.hpp:21</a></div></div>
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